Gyro Rework Done, Breakout Redesign

Finished reworking the gyro connections on the PCB. The 5v rail tests ok and it’s hard to tell from the diagnostic messages, but I think the gyro is now connected properly.

For some reason, the cRIO voltage is still reading 0v. I checked the connections on the circuit board and in the cable, and everything looks good. Either the analog input module (NI 9201) itself is broken, or there’s something I’m missing.

I spent the evening redesigning the breakout board. This board will probably never be made, but it incorporates a lot that I learned from the first board. All of the connectors for the encoders, switches, etc, are replaced with modular (RJ9/11/45) connectors, which have locking tabs to keep them in. All of the power/voltage inputs are on a screw terminal block connector instead of soldered-on screw terminals. This allows the board to be removed more easily. Also, I added connectors for the sonars (not used on any of the robots except perhaps Roberto) and extra switches. I may also add a pin header breakout for the remaining DIO pins, just in case. I have the schematic done, but still need to finish checking it and finish the layout.

I got a HD (720p) USB webcam from Bobs/Prof. Tien, which would be good for vision processing, and is small enough to mount on the arm.

I need to remember to reduce the load constraints on the arm. It doesn’t like going above horizontal right now (its own weight makes it think it’s hitting something).

[caption id=”attachment_331” align=”aligncenter” width=”300”] Revised Breakout Schematic[/caption]